Systems, methods, and apparatuses for engaging and transporting objects

ABSTRACT

Systems, methods, and apparatuses for engaging, lifting, and moving objects such as wheeled cargo trailers are provided. In one embodiment, a mobile apparatus includes a transport mechanism, a frame, and one or more lift assemblies. The lift assemblies may be adjusted using one or more attached actuators that position the lift assemblies and/or components thereof for engaging and lifting an object. The transport mechanism may be autonomously operated. A vision system may be used to locate and identify objects and/or guide the mobile apparatus into position to engage and lift the objects. An adapter for a pneumatic braking system of a wheeled cargo trailer is also provided. The adapter provides a pneumatic attachment for a pressurized air source that is separate from a glad hands connector attached to the braking system.

TECHNICAL FIELD

The field relates to systems, methods, and apparatuses for engaging andtransporting objects, such as wheeled cargo trailers, or other wheeledor non-wheeled containers, vessels, and/or enclosures.

BACKGROUND

The transportation of objects, such as those that are not self-poweredor independently mobile, presents a number of challenges. Locating theobject, identifying the object, engaging the object,adjusting/positioning/lifting the object to enable a desired level ofmobility, transporting the object, and monitoring/controlling theobject's position, movement, and orientation are all significantchallenges. Therefore, an apparatus that provides adaptabletransportation capability for objects, such as, for example, wheeledcargo trailers, is needed.

SUMMARY

This summary is intended to introduce a selection of concepts in asimplified form that are further described below in the detaileddescription section of this disclosure. This summary is not intended toidentify key or essential features of the claimed subject matter, and itis also not intended to be used as an aid in isolation to determine thescope of the claimed subject matter.

In brief, and at a high level, this disclosure describes, among otherthings, systems, methods, and apparatuses for engaging and movingobjects. The object may be a wheeled cargo trailer or another type ofwheeled or non-wheeled storage container/vessel/enclosure. The apparatusmay be a mobile apparatus that is manually and/or autonomouslycontrolled and operated. The apparatus may include a transport mechanismand a frame. In various embodiments, the frame may include a baseportion, any number of elongated portions, and/or any number ofstructural elements, sections, and/or components, as well as functionalapparatuses, that are arranged to at least partially enclose an objectarea. The apparatus may include one or more lift assemblies coupled tothe frame that are operable to engage an object in the object area andlift it from a lowered position to a raised position to facilitatetransporting the object.

The lift assemblies may have different configurations. For example, onelift assembly may include a movable fifth wheel. The fifth wheel may becoupled to an actuator operable to move the fifth wheel to differentpositions along a length of the frame. The fifth wheel may also becoupled to another actuator operable to raise and lower the fifth wheel,allowing it to engage and lift a kingpin on a wheeled cargo trailer. Inanother aspect, a lift assembly includes separate lift componentspositioned on opposite sides of the frame, the lift components coupledto one or more actuators that are operable to raise and lower the liftcomponents, extend and retract the lift components, and/or otherwiseadjust the position of the lift components on the frame to facilitateengaging and lifting an object. In a further aspect, a lift assembly mayinclude one or more components adapted to engage and lift one or morewheels, tires, and/or axels or other drive train components locatedunder an object such as a wheeled cargo trailer. In this sense, thecomponents of the lift assembly may be adapted and/or positioned to liftcertain structures and/or portions of an object. Also, by using a liftassembly with movable/adjustable lift components, a common apparatus canengage, lift, and move objects of different sizes, shapes, and/orconfigurations (e.g., wheeled cargo trailers of different lengths and/orhaving differently located lift points), providing adaptability andversatility for the moving of such objects.

The apparatus may also include a vision system that detects objects inthe surrounding environment and/or that detects a position of an objectbeing engaged, lifted, and moved by the apparatus. The apparatus mayinclude position-tracking components that determine a location of theapparatus, including its position relative to other objects. Theapparatus may include computer processors and hardware that areconfigured to identify, track, and/or log detected objects, and alsoprovide proximity-oriented feedback to ensure adequate mobility of theapparatus without interfering with or contacting other objects. Theapparatus may further include wireless communication components that areadapted to communicate information to a central server or anothercomputing system separate from the apparatus.

In additional embodiments, a pneumatic adapter is provided that can beused to provide a pneumatic connection with a pneumatically-operatedbraking system of a wheeled cargo trailer or container. The pneumaticadapter may be used to provide a standardized pneumatic connection withthe braking system, and/or to provide a pneumatic connection that is analternative to a standard braking connection, such as a glad handsconnection.

In another embodiment, a pneumatically-operated braking system for awheeled cargo trailer is provided. The system includes, in one exampleaspect, a set of pneumatically-operated brakes, a glad hands connector,one or more pneumatic conduits, and the aforementioned adapter thatprovides a pneumatic connection with the pneumatic braking system,either through a glad hands connection or through a separate connection.

In another embodiment, a mobile apparatus for engaging and movingobjects is provided. The mobile apparatus comprises a frame with a baseportion, a first elongated portion extending from the base portion, anda second elongated portion extending from the base portion, the secondelongated portion being spaced from the first elongated portion. Themobile apparatus further comprises a first lift assembly coupled to theframe, the first lift assembly having a first lifting component and afirst actuator coupled to the first lifting component, the firstactuator operable to move the first lifting component to differentpositions along a length of the frame, and a second actuator coupled tothe first lifting component and operable to move the first liftingcomponent between a raised position and a lowered position. The framefurther comprises a second lift assembly comprising a second liftingcomponent, a third actuator coupled to the first elongated portion andcoupled to the second lifting component and operable to move the secondlifting component between a raised position and a lowered position, athird lifting component, and a fourth actuator coupled to the secondelongated portion and coupled to the third lifting component andoperable to move the third lifting component between a raised positionand a lowered position. The mobile apparatus further comprises atransport mechanism coupled to the frame (fixedly or detachably) that isoperable to move the frame in at least one direction.

In another embodiment, a mobile apparatus for engaging and movingobjects is provided. The apparatus comprises a frame comprising a baseportion, a first elongated portion extending from the base portion, anda second elongated portion extending from the base portion, the secondelongated portion spaced from the first elongated portion. The mobileapparatus further comprises a first lift assembly comprising a firstforward lifting component coupled to a first lift actuator that iscoupled to the first elongated portion, the first lift actuator operableto move the first forward lifting component between a raised positionand a lowered position, and a second forward lifting component that iscoupled to a second lift actuator that is coupled to the secondelongated portion, the second lift actuator operable to move the secondforward lifting component between a raised position and a loweredposition. The frame further comprises a second lift assembly comprisinga first rearward lifting component coupled to a third lift actuator thatis coupled to the first elongated portion, the third lift actuatoroperable to move the first rearward lifting component between a raisedposition and a lowered position, and a second rearward lifting componentcoupled to a fourth lift actuator that is coupled to the secondelongated portion, the fourth lift actuator operable to move the secondrearward lifting component between a raised position and a loweredposition. The mobile apparatus further includes a transport mechanismcoupled to the frame (fixedly or detachably) that is adapted to move theframe in at least one direction.

In another embodiment, a pneumatically-operated braking system for awheeled cargo trailer is provided. The system comprises a set ofpneumatically-operated brakes coupled to a set of wheels of the wheeledcargo trailer, a glad hands connector coupled to the wheeled cargotrailer and pneumatically coupled to the set of pneumatically-operatedbrakes, the glad hands connector having a first pair of pneumaticcouplings, a pair of pneumatic conduits extending between the set ofpneumatically operated brakes and the glad hands connector, and anadapter coupled to the wheeled cargo trailer and operable to provide apneumatic connection with the pneumatically operated braking system.

In another embodiment, a method for engaging and moving a wheeled cargotrailer using a mobile apparatus is provided. The method comprisesmoving the mobile apparatus to a first position. The mobile apparatusincludes a transport mechanism, a frame comprising a base portioncoupled to the transport mechanism, a first elongated portion extendingfrom the base portion, a second elongated portion extending from thebase portion such that the second elongated portion is spaced from thefirst elongated portion, a first lift assembly movably coupled to theframe, and a second lift assembly coupled to the frame. The firstposition comprises a position at which the frame at least partiallysurrounds/encloses the wheeled cargo trailer. The method furthercomprises moving the first and second lift assemblies into respectiveengaging positions, moving the first lift assembly from a loweredposition to a raised position using a first actuator to lift a first endof the wheeled cargo trailer, moving the second lift assembly from alowered position to a raised position to lift a second end of thewheeled cargo trailer, and moving the wheeled cargo trailer using thetransport mechanism while the wheeled cargo trailer is lifted by theframe.

The term “object” as used herein should be interpreted broadly, toinclude any trailer, vehicle, container, vessel, enclosure, and/or otherstructure, including one of any size and shape, that can be engaged andlifted using the apparatuses and methods described herein.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter disclosed herein that relates to systems, methods,and apparatuses for engaging and moving objects is described in detailwith reference to the attached drawing figures, which are intended toillustrate non-limiting examples of the disclosed subject matter, inwhich like numerals represent like elements, wherein:

FIG. 1 depicts a block diagram of an exemplary computing system suitablefor providing various functions in accordance with embodiments of thepresent disclosure;

FIG. 2A depicts an example mobile apparatus adapted for engaging,lifting, and moving an object, such as a wheeled cargo trailer, inaccordance with an embodiment hereof;

FIG. 2B depicts an example lift assembly used with the mobile apparatusdepicted in FIG. 2A, shown in isolation, in accordance with anembodiment hereof;

FIG. 3 depicts another example mobile apparatus adapted for engaging,lifting, and moving an object, in accordance with an embodiment hereof;

FIG. 4A depicts the mobile apparatus of FIG. 2A moving into positionaround a wheeled cargo trailer, in accordance with an embodiment hereof;

FIG. 4B depicts the mobile apparatus of FIG. 4A engaging the wheeledcargo trailer, in accordance with an embodiment hereof;

FIG. 4C depicts the mobile apparatus of FIGS. 4A-4B lifting the wheeledcargo trailer, in accordance with an embodiment hereof;

FIG. 5A depicts the mobile apparatus of FIG. 3 moving into positionaround a wheeled cargo trailer, in accordance with an embodiment hereof;

FIG. 5B depicts the mobile apparatus of FIG. 5A engaging the wheeledcargo trailer, in accordance with an embodiment hereof;

FIG. 5C depicts the mobile apparatus of FIGS. 5A-5B lifting the wheeledcargo trailer, in accordance with an embodiment hereof;

FIG. 6A depicts a top-down plan view of the mobile apparatus shown inFIG. 2A, in accordance with an embodiment hereof;

FIG. 6B depicts the top-down plan view of the mobile apparatus shown inFIG. 6A while the mobile apparatus is moved into position around awheeled cargo trailer positioned adjacent a dock, in accordance with anembodiment hereof;

FIGS. 7A-7B show one example lifting component of a lift assembly thatis moved between a retracted position and an extended position, inaccordance with an embodiment hereof;

FIGS. 8A-8B show another example lifting component of a lift assemblythat is moved between a retracted position and an extended position, inaccordance with an embodiment hereof;

FIG. 9A depicts an example lifting component and actuator assembly, inaccordance with an embodiment hereof;

FIG. 9B depicts another example lifting component and actuator assembly,in accordance with an embodiment hereof;

FIG. 10A depicts an example glad hands connection used with a pneumaticbraking system, in accordance with an embodiment hereof;

FIG. 10B depicts an example pneumatic adapter coupled with the gladhands connection shown in FIG. 10A, in accordance with an embodimenthereof;

FIG. 10C depicts a diagram of an example pneumatic assembly thatincorporates a glad hands connection and a pneumatic adapter, inaccordance with an embodiment hereof;

FIG. 11 depicts an example pneumatic braking system located on a wheeledcargo trailer that includes a glad hands connection and a pneumaticadapter, in accordance with an embodiment hereof;

FIG. 12A depicts a partial, cross-section view of an example interlockfor a pneumatic adapter, the interlock shown in a first configuration,in accordance with an embodiment hereof;

FIG. 12B depicts the interlock shown in FIG. 12A in a secondconfiguration, in accordance with an embodiment hereof;

FIG. 13 depicts another mobile apparatus that includes connections thatcan be attached to corresponding connections located on an adapterpositioned on a wheeled cargo trailer, in accordance with an embodimenthereof;

FIG. 14 depicts a partial, rear perspective view of a frame as describedherein with securing components mounted on the frame for engaging doorsof a trailer, in accordance with an embodiment hereof; and

FIG. 15 depicts a block diagram of an example process for engaging,lifting, and moving an object, such as a wheeled cargo trailer, inaccordance with an embodiment hereof.

DETAILED DESCRIPTION

The subject matter of this disclosure is described herein to meetstatutory requirements. However, the description is not intended tolimit the scope of the invention. Rather, the claimed subject matter maybe embodied in other ways, to include different steps, combinations ofsteps, features, and/or combinations of features, similar to thosedescribed in this disclosure, and in conjunction with other present orfuture technologies. Moreover, although the terms “step” and/or “block”may be used herein to identify different elements of methods employed,the terms should not be interpreted as implying any particular orderamong or between various elements except when the order is explicitlydescribed and required.

In general, at a high level, this disclosure describes systems, methods,and apparatuses for engaging, lifting, and/or moving objects, such aswheeled cargo trailers or other wheeled or non-wheeledcontainers/vessels/enclosures. The subsequent discussion will focus onaspects of the invention in the context of a wheeled cargo trailer.However, it should be understood that these aspects could also beimplemented in the context of a non-wheeled container/vessel/enclosure,such as a shipping container. To provide one example, a wheeled cargotrailer is often positioned without an associated transport mechanismbeing attached, leaving the trailer with reduced mobility. Further, thewheels of the trailer may be coupled to a pneumatic braking system thatremains locked until a pneumatic source is connected to the brakingsystem. Embodiments hereof enable the engaging, lifting, and/or movingof objects, such as the aforementioned wheeled cargo trailers, usingvarious engaging, lifting, and/or mobilizing systems and components.Embodiments hereof also allow for mobilizing objects, such as wheeledcargo trailers, using pneumatically operated systems and adapters. Theseembodiments are described in further detail below with reference toFIGS. 1-15.

The subject matter of this disclosure may be provided as, at least inpart, a method, a system, and/or a computer-program product, among otherthings. Accordingly, certain aspects disclosed herein may take the formof hardware, or may be a combination of software and hardware. Acomputer-program that includes computer-useable instructions embodied onone or more computer-readable media may also be used. The subject matterhereof may further be implemented as hard-coded into the mechanicaldesign of computing components and/or may be built into a system orapparatus for engaging and moving objects.

Computer-readable media may include volatile media, non-volatile media,removable media, and non-removable media, and may also include mediareadable by a database, a switch, and/or various other network devices.Network switches, routers, and related components are conventional innature, as are methods of communicating with the same, and thus, furtherelaboration is not provided in this disclosure. By way of example, andnot limitation, computer-readable media may comprise computer storagemedia and/or non-transitory communications media.

Computer storage media, or machine-readable media, may include mediaimplemented in any method or technology for storing information.Examples of stored information include computer-useable instructions,data structures, program modules, and/or other data representations.Computer storage media may include, but is not limited to, RAM, ROM,EEPROM, flash memory or other memory technology, CD-ROM, digitalversatile discs (DVD), holographic media or other optical disc storage,magnetic cassettes, magnetic tape, magnetic disk storage, and otherstorage devices. These memory components may store data momentarily,temporarily, and/or permanently, and are not limited to the examplesprovided herein.

Referring now to FIG. 1, a block diagram of an example computing device1 suitable for enabling functions described herein is provided, inaccordance with an embodiment hereof. It should be noted that althoughsome components depicted in FIG. 1 are shown in the singular, they maybe plural, and the components may be connected in a different, includingdistributed, configuration. For example, computing device 1 mightinclude multiple processors and/or multiple radios. As shown in FIG. 1,computing device 1 includes a bus 9 that may directly or indirectlyconnect different components together, including memory 2, processor(s)3, presentation component(s) 4 (if applicable), radio(s) 5, input/output(I/O) port(s) 6, input/output (I/O) component(s) 7, and power supply 8.

Memory 2 may take the form of the memory components described herein.Thus, further elaboration will not be provided here, but memory 2 mayinclude any type of tangible medium that is capable of storinginformation, such as a database. A database may include any collectionof records, data, and/or other information. In one embodiment, memory 2may include a set of computer-executable instructions that, whenexecuted, facilitate various functions or steps associated with thesubject matter described herein. These instructions will be referred toas “instructions” or an “application” for short. The processor 3 mayactually be multiple processors that may receive instructions andprocess them accordingly. The presentation component 4 may include adisplay, a speaker, a screen, a portable digital device, and/or othercomponents that can present information through visual, auditory, and/orother tactile cues (e.g., a display, a screen, a lamp, a light-emittingdiode (LED), a graphical user interface (GUI), and/or a lightedkeyboard).

The radio 5 may facilitate communication with a network, and mayadditionally or alternatively facilitate other types of wirelesscommunications, such as Wi-Fi, WiMAX, LTE, Bluetooth, and/or VoIPcommunications, among other communication protocols. In various aspects,the radio 5 may be configured to support multiple technologies, and/ormultiple radios may be configured and utilized to support multipletechnologies.

The input/output (I/O) ports 6 may take a variety of forms. ExemplaryI/O ports may include a USB jack, a stereo jack, an infrared port, afirewire port, and/or other proprietary communications ports. Theinput/output (I/O) components 7 may comprise one or more keyboards,microphones, speakers, touchscreens, and/or any other item useable todirectly or indirectly input data into the computing device 1. The powersupply 8 may comprise batteries, generators, fuel cells, and/or anyother component that may act as a power source to supply power tocomputing device 1 and to any other components described herein.

First Example of Mobile Apparatus for Engaging, Lifting, and MovingObjects

Referring now to FIG. 2A, a mobile apparatus 10 adapted for engaging,lifting, and moving objects, such as wheeled cargo trailers, isprovided, in accordance with an embodiment hereof. The mobile apparatus10 shown in FIG. 2A includes a transport mechanism 12. The transportmechanism 12 may take a variety of configurations between the differentcontemplated embodiments. For example, one contemplated transportmechanism is a vehicle having one or more propulsion mechanisms, such aselectric motors and batteries and/or internal combustion engines andfuel cells, and a plurality of wheels that are connected to a drivesystem. The transport mechanism 12 may be manually operated, remotelyoperated, and/or autonomously operated, and/or may be sized, shaped,and/or configured to provide a desired amount of mobility oradaptability for engaging objects.

The example transport mechanism 12 shown in FIG. 2A includes a pluralityof wheels 14. Some or all of the wheels 14 may be independentlyrotatable/steerable to provide a desired level of mobility for themobile apparatus 10. For example, in contemplated aspects, any or all ofthe wheels may be adapted to rotate and/or be steered anywhere from+/−0-360 degrees (e.g., in non-limiting aspects, such wheels may beadapted to rotate and/or be steered +/−30 degrees, +/−60 degrees, +/−90degrees, +/−180 degrees, or other amounts; other ranges are contemplatedherein as well) to provide a desired level of maneuverability for thetransport mechanism 12. In this regard, a greater amount of wheelrotation/steerability may be provided to support operation of thetransport mechanism 12 in space-constrained areas, such as a storagedepot where a plurality of wheeled cargo trailers are located inrelatively close proximity.

The mobile apparatus 10 further includes a frame 16. As shown in FIG.2A, the transport mechanism 12 includes a coupling mechanism 20 that isattachable to the frame 16. The coupling mechanism 20 may utilize pins,latches, male-female components, or other mechanical engagement elementsthat facilitate attachment of the transport mechanism 12 to the frame16. The coupling mechanism 20 allows the transport mechanism 12 to beselectively attached to and detached from the frame 16. In otheraspects, instead of being selectively attachable to the frame 16, thetransport mechanism 12 may simply be fixedly, pivotally, or otherwisemovably secured to the frame 16 without a releasable coupling.

The frame 16 further includes a base portion 22. The coupling mechanism20 is configured such that it is attachable to the base portion 22. Inother contemplated embodiments, additional structures and components maybe utilized to attach the transport mechanism 12 to the frame 16. Theframe 16 includes an elongated portion 24 that is coupled to and extendsfrom the base portion 22 and an elongated portion 26 that is coupled toand extends from the base portion 22. The elongated portions 24, 26 aresubstantially parallel and spaced apart from each other, such that thebase portion 22, the elongated portion 24, and the elongated portion 26at least partially enclose an object space 28 in which an object that isto be engaged, lifted, and moved can be positioned (e.g., a wheeledcargo trailer).

The frame 16 further includes an elongated portion 30 coupled relativeto the base portion 22 and relative to the elongated portion 24 suchthat it is spaced from the elongated portion 24. The frame 16 alsoincludes an elongated portion 32 that is coupled relative to the baseportion 22 and relative to the elongated portion 26 such that it isspaced from the elongated portion 26. The elongated portions 30, 32 arecoupled to respective spacing members 34 and are spaced from therespective elongated portions 24, 26 by the spacing members 34. Theelongated portions 30, 32 are also coupled to respective spacing members36 and are spaced from each other by the spacing members 36. Theelongated portions 24, 26, 30, 32 and the spacing members 34, 36 of theframe 16 collectively enclose and define, at least partially, the objectspace 28 within which an object can be positioned to be engaged, lifted,and moved. FIG. 2A, for example, illustrates the spacing members 34, 36and elongated portions 24, 26, 30, 32 of the frame 16 as I-beams.However, these structural elements could have any type of cross-section(e.g., solid, hollow, round, square, rectangular, or triangular).

With further reference to FIG. 2A, the spacing members 34, 36 andelongated portions 24, 26, 30, 32 of the frame 16 collectively providethe structural strength and rigidity characteristics necessary forsupporting a lifted object, such as a wheeled cargo trailer which maycontain a cargo payload. Further, the frame 16 may be constructed ofmaterials, and with design characteristics, that enable it to support aparticular object (e.g., of a particular size, length, width, height,weight, etc.) or load. For example, the frame 16 may be sized andconstructed so that it can lift and support a wheeled cargo trailer thatis up to 30, 40, 50, or 60 feet long, up to 6, 8, or 10 feet wide,and/or up to 1, 2, 5, 10, 15, 20, 25, or 30 tons, for example, dependingon the structural configuration. Design configurations that supportother ranges are contemplated herein as well.

The frame 16 depicted in FIG. 2A further includes a plurality of wheels38. The wheels 38 are pivotally coupled to the frame 16 at respectivewheel attachments 40. As with the transport mechanism 12, any or all ofthe wheels 38 and wheel attachments 40 may be configured to provide adesired level of steering/rotation (e.g., each wheel 38 may berotatable, or steerable, anywhere in the range of +/−0-360 degrees invarious embodiments). Each wheel 38 may also be driven by a drivesystem. Each drive system may include a motor (e.g., an electric orinternal combustion motor or a combination of the same), a steeringmechanism (e.g., an electrically and/or hydraulically operated steeringmechanism), and/or a power source (e.g., a generator, one or morebatteries, or another power or fuel source). In contemplated aspects,some of the wheels 38 are fixedly attached to the frame 16 (i.e., notpivotal), and in other embodiments, only some of the wheels are drivenby a drive system.

The multi-point maneuverability of the frame 16 provided by thesteerable wheels 38 and the transport mechanism 12 allows for a desiredlevel of mobility to be provided to the mobile apparatus 10 in the x andy directions (as indicated in FIG. 2A). The example mobile apparatus 10shown in FIG. 2A includes four independently steerable wheels 38pivotally attached to the frame 16 with respective wheel attachments 40.It is contemplated herein that with different embodiments of the mobileapparatus 10, more or fewer wheels 38 may be used. For example, toprovide additional support, and/or increase load capacity of the frame16, the frame 16 may include additional wheels, like the wheels 38 shownin FIG. 2A, coupled to the elongated portions 24, 26 of the frame 16between the base portion 22 and an end 42 of the frame 16 that isopposite to the base portion 22.

Continuing with FIG. 2A, the mobile apparatus 10 includes a liftassembly 44 and a lift assembly 46 that are movably/adjustably coupledto the frame 16. The lift assemblies 44, 46 are each adapted to engage aportion of an object, such as a front portion and a rear portion of awheeled cargo trailer, respectively, and then lift the portions of theobject off of the ground, allowing the transport mechanism 12 and theframe 16 to collectively move the supported object to a desired location(e.g., without unlocking a pneumatic braking system when the object is awheeled cargo trailer). The lift assemblies 44, 46 shown in FIG. 2Arepresent example embodiments. In other embodiments, additional, fewer,or differently configured lift assemblies and components thereof may beused to engage and lift different parts of an object (e.g., for heavierobjects, more lift assemblies may be integrated into the mobileapparatus 10). Further, the depictions of the lift assemblies 44, 46shown in FIG. 2A are provided in simplified form for clarity andexplanation purposes, and in implementation, such lift assemblies mayinclude additional components (e.g., hydraulic, mechanical, and/orelectric actuator components, mechanical couplings, control components,cables, hoses, indicators, interfaces, etc.).

Referring still to FIG. 2A, the lift assembly 44 is movably coupled tothe base portion 22 via an actuator 56. The actuator 56 may be a linearactuator (e.g., a hydraulic actuator, a screw-driven actuator, and/or abelt or chain-driven actuator) that is operable to move the liftassembly 44 to different locations along a length of the frame 16, or inother words, to different distances from the base portion 22. In thissense, the actuator 56 allows the lift assembly 44 to be positioned at alocation that is suitable for engaging an object of a particular lengththat is located within the object space 28. Stated another way, the liftassembly 44 can be moved to different locations depending on the lengthof the object in the object space 28.

Referring to FIG. 2A and also to FIG. 2B, the lift assembly 44 includesa base 48 and a lifting component 50 which is movably coupled to thebase 48. The lifting component 50 is adjustable between a raisedposition and a lowered position using an actuator 51 coupled thereto(e.g., an electric or hydraulic linear actuator, which in FIGS. 2A and2B is partially obscured under the base 48). For the embodiment shown inFIGS. 2A and 2B, the lifting component 50 is a fifth wheel adapted toengage and lift a kingpin located on a wheeled cargo trailer. It shouldbe noted that other types of lifting components having differentengaging structures may be used with the lift assembly 44 in otheraspects.

The lift assembly 44 further includes a support frame 52 with a base 48that is movably coupled to the elongated portions 24, 26 via a track 54located thereon and to the elongated portions 30, 32 via a track 54located thereon as well. The track 54 and base 48 may support thelifting component 50 and the support frame 52, slidably coupling them tothe frame 16 and thereby allowing linear movement to be imparted to thelift assembly 44 by the actuator 56. In various embodiments, the base 48may be supported by bearings, rails, rollers, and/or other componentsintegrated with the elongated portions 24, 26, 30, and/or 32 thatprovide support and/or mobility for the lift assembly 44 mountedthereon. The configuration of the lift assembly 44 allows the liftingcomponent 50 to be moved to different positions along the frame 16,allowing the lifting component 50 to engage and lift objects ofdifferent lengths. Further, additional actuators, guides, tracks, and/orsupport structures may be used with the frame 16 to support the movementof the lift assembly 44. In different embodiments, the mobile apparatus10 and the frame 16 may include components that allow the lift assembly44 to be locked into place at a desired location along a length of theframe 16. Such components may include locking pins, latches, and/orother mechanisms that are manually or mechanically/electricallyactuated.

Continuing with FIG. 2A, the mobile apparatus 10 includes a liftassembly 46 positioned between the end 42 of the frame 16 and the liftassembly 44. The lift assembly 46 includes a lifting component 58 thatis movably coupled to a support structure 62 coupled between theelongated portion 24 and the elongated portion 30. The lifting component58 is movable between a raised position and a lowered position using anactuator 60 coupled to the lifting component 58 and to the elongatedportion 24 and/or support structure 62. The actuator 60 is operable tomove the lifting component 58 in the z-direction (as shown in FIG. 2A)to allow for raising and lowering a portion of an object that is engagedby the lifting component 58. The actuator 60, which is generallyobscured in FIG. 2A, may be positioned at least partially within theelongated portion 24 and/or support structure 62 and/or below thelifting component 58, and may be a linear actuator. The actuator 60allows the lifting component 58 to move in the z-direction, as shown inFIG. 2A, adjacent the support structure 62 that extends between theelongated portions 24 and 30.

The lift assembly 46 further includes a lifting component 64 that ismovably coupled to a support structure 68 extending between theelongated portions 26, 32. The lifting component 64 is movable between araised position and a lowered position using an actuator 66 coupled tothe lifting component 64 and to the support structure 68 and/or secondelongated portion 26. The actuator 66 is operable to move the liftingcomponent 64 in the z-direction, as indicated in FIG. 2A, to allow forraising and lowering a portion of an object engaged by the liftingcomponent 64. The actuator 66, similar to the actuator 60, may bepositioned at least partially within the support structure 68 and/or thesecond elongated portion 26 and/or below the lifting component 64, andmay be a linear actuator. The actuator 66 allows the lifting component64 to move in the z-direction, as indicated in FIG. 2A, adjacent thesupport structure 68 extending between the elongated portions 26, 32.

The lifting component 58 and the lifting component 64 of the liftassembly 46 may each be movably coupled to the frame 16 in they-direction on their respective sides of the frame 16. For example, thelifting component 58, the lift actuator 60, and the support structure 62may all be movably coupled to the elongated portions 24, 30 via anactuator (not shown) coupled to the frame 16 (e.g., a linear actuatorcoupled along the elongated portion 24, which would be obscured in FIG.2A). This allows a position of the components 58, 60, 62 along a lengthof the frame 16 in the y-direction, as indicated in FIG. 2A, to beadjusted. These components may move in unison in such actuated movement,sliding along the elongated portions 24, 30.

Similarly, the lifting component 64, the lift actuator 66, and thesupport structure 68 may all be movably coupled to the elongatedportions 26, 32, such as via an actuator 35 coupled to the frame 16. Itshould be noted that an actuator (not shown) used for imparting movementof the lifting component 58, the lift actuator 60, and the supportstructure 62 in the y-direction, as indicated in FIG. 2A, that ismounted on the elongated portion 24 may be similar to the actuator 35shown mounted on the elongated portion 26 in FIG. 2A. The actuator 35 isoperable to adjust a position of the lifting component 64 in they-direction, as indicated in FIG. 2A, along a length of the frame 16.Further, the support structures 62, 68 may be, as shown in FIG. 2A,movably coupled to and supported by a track 59 that is coupled to/partof the elongated portions 30, 32 of the frame 16. The respectiveactuators (e.g., 35 and/or other similar actuators) used to move thelifting components 58, 64, the lift actuators 60, 66, and the supportstructures 62, 68 in the y-direction, as indicated in FIG. 2A, mayoperate independently, or the actuation and movement may be coordinatedsuch that it occurs in unison.

Accordingly, when an object, such as a wheeled cargo trailer, isreceived through the rear end 42 of the frame 16 into the object space28, the lift assembly 44 can be repositioned at a location along theframe 16 in the y-direction that allows for engagement with and liftingof a first portion/end of the object. Additionally, in the case of theembodiment shown in FIG. 2A, the lift assembly 46, and particularly thelifting components 58, 64, can also be moved, such as via respectiveactuators, in the y-direction as indicated in FIG. 2A along the frame 16to a desired location that allows for engaging and lifting a secondportion/end of the object. These adjustments can be guided and/orfacilitated using a computing system and/or vision system, as describedin further detail below.

Each of the lifting components 58, 64 may further beextendably/retractably coupled to their respective support structures62, 68 and/or elongated portions 24, 26, as shown in additional detailin the example aspects depicted in FIGS. 7A-7B and 8A-8B. In particular,each lifting component 58, 64 may be manually, or mechanically, extendedand retracted via an actuator to allow the respective lifting component58, 64 to be extended under or retracted from under an object (e.g., anunderside of a wheeled cargo trailer). This allows the liftingcomponents 58, 64 to be selectively moved into an engaging positionwhere the lifting components 58, 64, when raised by the respectiveactuators 60, 66, engage and lift an object in the object space 28.Examples of extended and retracted positions for illustrative liftingcomponents are shown in detail in FIGS. 7A-7B and 8A-8B.

The mobile apparatus 10 may include a vision system. The vision systemmay comprise a selection of components at distributed locations on themobile apparatus 10. For example, one or more computer processors and/orhardware 70 may be located on the mobile apparatus 10 andcommunicatively connected (e.g., wirelessly and/or by wired connection)to a plurality of detectors 72 (e.g., sensors, cameras, etc., includingany combination of the same) that are positioned about the mobileapparatus 10. The detectors 72 may be used to actively monitor thesurrounding environment and/or object space 28. The detectors 72 mayinclude range detection sensors, motion detection sensors, night visionsensors, thermal sensors, cameras, and/or other components that areconfigured to actively detect activity and/or environments around themobile apparatus 10 or within the object space 28. The detectors 72 maybe coupled to the transport mechanism 12 and/or to the frame 16 and maybe used to guide the mobile apparatus 10 with increased precision (e.g.,either manually or autonomously). Further, some of the detectors 72 mayprovide Light Detection and Ranging (“LIDAR”) functionality thatcaptures object distance and spacing data. Cameras (e.g., of imageand/or video type) may be used to view and monitor conditions around themobile apparatus 10, and record images/video of the same. It should benoted that the number, location, and orientation of the detectors 72depicted on the example mobile apparatus 10 shown in FIG. 2A representsone aspect, and more or fewer detectors, with the same or differentfunctionality, in the same or different locations, are possible andcontemplated with aspects provided herein.

To provide an example of the operation of the vision system, in acircumstance where the mobile apparatus 10 is transporting a wheeledcargo trailer within a trailer storage depot, cameras and sensorsmounted on the mobile apparatus 10 may detect objects, including theidentity, position, orientation, and distance of the objects, within thedepot so that the mobile apparatus 10 can navigate around them. Thisinformation may also be recorded and/or communicated to other computingdevices to facilitate surveying/monitoring an area. For example, usingobject recognition, position-tracking, and data logging, an accountingof objects in a particular environment (e.g., a storage depot) may beperformed. In some aspects, this information may be communicated toother computing devices, such as a central server, for logging and/orprocessing. The vision system may be configured to detect text andcharacters through optical character recognition (“OCR”). The visionsystem may also be configured to perform barcode scanning, RFID reading,shape recognition, and/or other types of recognition and/oridentification of objects. This detected information can be stored, usedby various processing components of the mobile apparatus 10 for guidanceand steering purposes, and/or communicated to other computing devicesfor other purposes, in example aspects.

The computer processors and/or hardware 70 located on the mobileapparatus 10 may include components that provide wireless communicationwith other computing devices over a network. For example, componentsused to facilitate wireless communication may include Bluetooth,cellular, and/or satellite communication components, or components thatprovide communication over other wireless communication protocols asdescribed herein. The wireless communication components may beconfigured to share information gathered by the mobile apparatus 10 withthe other computing devices to facilitate improved informationmanagement.

The mobile apparatus 10 may also be configured with position-trackingcomponents. For example, a Global Positioning System (“GPS”) andcomponents thereof and/or a Differential Global Positioning System(“DGPS”) and components thereof may be incorporated into the mobileapparatus 10. The GPS or DGPS, or another tracking system in combinationwith the vision system, may be used to track the position of the mobileapparatus 10 and objects observed by the mobile apparatus 10 using thevision system. A position-tracking system used with the mobile apparatus10 may communicate information about the location of the mobileapparatus 10 to other computer devices via the wireless communicationcomponents and the computer processors and/or hardware 70 describedabove. Although not shown, it is contemplated that components of thevision system and communication system may be positioned on an upwardlyextending mast that may, in contemplated aspects, define a highest pointof the transport mechanism 10. Of course, components of the visionsystem and communication system described herein may be positioned atany other location on the mobile apparatus 10 as desired.

The vision system may be outward-looking, detecting/monitoring anenvironment around the mobile apparatus 10 as well as objects andcharacteristics thereof, and may be inward-looking, detecting aposition, orientation, and/or other characteristics of an object locatedin the object space 28 of the mobile apparatus 10 (e.g., that is beingengaged and transported). For example, some of the detectors 72 on themobile apparatus 10 (e.g., including sensors and/or cameras thereof),such as those shown positioned on the lift assembly 44 and the liftassembly 46 shown in FIG. 2A, may be oriented to face inward towards theobject space 28, and therefore may be used to detect a position of anobject therein. The information obtained by these vision systemcomponents may allow the mobile apparatus 10 to maintain proper spacingfrom an object, reducing the incidence of collision, or improperpositioning.

For example, when the frame 16 is moved into position around a wheeledcargo trailer, the detectors 72 having inward facing components (e.g.,cameras and/or sensors) may continuously provide feedback to the one ormore computer processors and/or hardware 70 for guidance purposes. Theone or more computer processors and/or hardware 70 can process thisfeedback and send instructions to various components of the mobileapparatus 10 (e.g., the transport mechanism 12, including the wheels 14thereof, and the wheels 38 of the frame 16) to control the positioningof the mobile apparatus 10 around the wheeled cargo trailer. Thiscombination of active feedback and control allows the frame 16 to bepositioned with increased accuracy, particularly during autonomousoperation of the mobile apparatus 10.

Referring to FIG. 2B, the lift assembly 44 of the mobile apparatus 10depicted in FIG. 2A is provided in isolation, in accordance with anembodiment hereof. As described with respect to FIG. 2A, the liftassembly 44 includes the base 48, the lifting component 50, which in theaspect depicted in FIG. 2B is a movable fifth wheel useable for engaginga kingpin located on a wheeled cargo trailer, and the support frame 52.The support frame 52, as discussed with respect to FIG. 2A, can bemovably coupled to the frame 16.

The lift assembly 44 further includes a mount 53. The mount 53 is usedfor attaching the actuator 56 (shown in FIG. 2A but not in FIG. 2B) tothe lift assembly 44. The actuator 56, as shown in FIG. 2A, is attachedto the base portion 22 at one of its ends and is attached to the liftassembly 44 via the mount 53 at the other of its ends, as shown in FIG.2B. This attachment between the base portion 22 and the lift assembly 44allows the actuator 56 to impart movement to the lift assembly 44 sothat the lift assembly 44 can be repositioned along the frame 16. Itshould be noted that additional or alternative actuators and assembliesmay be used to move the lift assembly 44 along the frame 16, and thelift assembly 44 and actuator 56 shown in FIGS. 2A-2B represent only oneillustrative embodiment.

With continued reference to FIG. 2B, the lifting component 50 is coupledto the actuator 51, which is partially obscured by the lifting component50 and the base 48. The actuator 51 is operable to move the liftingcomponent 50 between a raised position and a lowered position, whichallows the lifting component 50 to raise and lower a portion of anobject. In the example embodiment depicted in FIG. 2B, the liftingcomponent 50 is a movable fifth wheel with a kingpin engaging slot 55that is adapted to be moved into position to engage a kingpin located ona wheeled cargo trailer. The actuator 51, which may be a linear actuatorthat extends and retracts to raise and lower the lifting component 50,is located below the fifth wheel. The support frame 52 at leastpartially supports the lift assembly 44 and an object lifted by thesame. The support frame 52 includes track-engaging portions 74, 76 thatare shaped, sized, and adapted to engage and move along the tracks 54located on the frame 16 of the mobile apparatus 10 shown in FIG. 2A. Inthis sense, the track-engaging portions 74, 76 movably attach the liftassembly 44 to the frame 16.

Second Example of Mobile Apparatus for Engaging, Lifting, and MovingObjects

FIG. 3 depicts an alternative mobile apparatus 80 adapted for engaging,lifting, and moving objects, where the mobile apparatus 80 has adifferent configuration of lift assemblies than the mobile apparatus 10depicted in FIG. 2A, in accordance with an embodiment hereof. The mobileapparatus 80 shown in FIG. 3 includes, like the mobile apparatus 10 ofFIG. 2A, a transport mechanism 12, a frame 16, and a vision systemcomprising computer processors and/or hardware 70 communicativelycoupled to a plurality of detectors 72 (e.g., sensors and cameras),among other common components. The mobile apparatus 80 is also similarto the mobile apparatus 10 shown in FIG. 2A in that it includes the liftassembly 46 proximate the end of the frame 16 opposite to the baseportion 22. However, the mobile apparatus 80 shown in FIG. 3 includes adifferent lift assembly 82 than the lift assembly 44 shown in FIG. 2A.The lift assembly 82 shown in FIG. 3 is similar to the lift assembly 46located proximate the end of the frame 16 opposite to the base portion22. In other words, instead of providing a single lifting component 50(e.g., a fifth wheel) with the lift assembly 44, the lift assembly 82provides separate lifting components 84, 86 that are attached to theelongated portions 24, 26 of the frame 16, respectively, similar to thelift assembly 46.

Continuing with FIG. 3, the lifting component 84 is movably coupled to asupport structure 88 such that it is movable relative to the supportstructure 88 in the z-direction, as indicated in FIG. 3. The supportstructure 88 is movably coupled to the elongated portion 24 such that itis movable relative to the elongated portion 24 in the y-direction, asindicated in FIG. 3. Further, the lifting component 84 is coupled to anactuator 90 that is operable to raise and lower the lifting component 84relative to the support structure 88 (i.e., moving the lifting component84 in the z-direction as indicated in FIG. 3). The lifting component 84,the support structure 88, and the actuator 90 are also movably coupledto the elongated portions 24, 30 in the y-direction, as indicated inFIG. 3. In the example aspect shown in FIG. 3, the support structure 88is movably coupled to the track 54, which is located on both elongatedportions 24, 30. This allows the support structure 88, as well as thelifting component 84 and the actuator 90 coupled thereto, to move alonga length of the frame 16 in the y-direction as indicated in FIG. 3 to asuitable location for lifting an object. The lifting component 84, thesupport structure 88, and the actuator 90 may be moved in they-direction using an actuator coupled thereto (e.g., a linear actuator,such as a hydraulic, electric, or screw-driven linear actuator) that iscoupled to the elongated portion 24 and actuatable in the y-direction,as indicated in FIG. 3.

Looking now to the opposite side of the frame 16, the lifting component86 is shown. The lifting component 86 is coupled to a support structure94, which is movably coupled to the elongated portions 26, 32 of theframe 16. The lifting component 86 is also coupled to an actuator 92that is operable to raise and lower the lifting component 86 in thez-direction, as indicated in FIG. 3. Like the arrangement on theopposite side of the frame 16, the actuator 92 is coupled to the supportstructure 94 such that it is movable with the support structure 94 inthe y-direction, as indicated in FIG. 3. In this sense, for the aspectshown in FIG. 3, the lifting component 86, the actuator 92, and thesupport structure 94 are movable together along the frame 16 in they-direction, like the components 84, 88, 90 mounted on the oppositeside. This movement of the lifting component 86, the actuator 92, andthe support structure 94 in the y-direction may be imparted by anactuator 95 which is coupled to the elongated portion 26. A similaractuator and coupling assembly may be provided for the lifting component84, the support structure 88, and the actuator 90 on the opposite sideof the frame 16, in order to support imparting a similar movement tothose components. Overall, the configuration of the lift assembly 82shown in FIG. 3 provides different support for an object as compared tothe lift assembly 44 shown in FIG. 2A (e.g., by providing support onboth sides of the object).

Like the mobile apparatus 10, the operation of the lift assembly 82shown in FIG. 3 may be manual or may be automated and/or may be guidedby a vision system. It should be noted that additional lift assemblies,possibly similar to the lift assemblies 82, 46 shown in FIG. 3, may beutilized in other embodiments, and different configurations of the liftassemblies 82, 46 are contemplated herein as well.

Example Process for Engaging, Lifting, and Moving an Object

FIGS. 4A-4C depict the mobile apparatus 10 shown in FIG. 2A enclosing,engaging, and lifting an object, in accordance with an embodimenthereof. The object, in this example, is a wheeled cargo trailer 98;however, in alternative aspects, the object may be a different type ofobject, such as, for example, a wheel-less cargo container, vessel,and/or enclosure. In FIG. 4A, the mobile apparatus 10 is moved intoposition around the trailer 98. The trailer 98 includes landing gear 100located proximate a first end 102 of the trailer 98. The landing gear100 is resting on the ground in FIG. 4A, supporting a forward portion ofthe trailer 98. The trailer 98 also includes a set of wheels 104 locatedproximate a second, rearward end 106 of the trailer 98. The trailer 98may include a pneumatic braking system which, without a pneumaticconnection, is engaged to prevent or restrict rotation of the wheels104. FIG. 4A shows the trailer 98 remaining stationary while the frame16 is moved into position around the trailer 98. The mobile apparatus 10may utilize the vision system described herein to support automated,manual, or a combination of automated and manual steering andpositioning.

Turning to FIG. 4B, the trailer 98 is shown at least partially enclosedby the frame 16 and in a position in which it is ready to be lifted bythe frame 16. In certain aspects, using the vision system describedherein, characteristics of the object (e.g., size, contents, location,equipment designation, etc.) such as, for example, the trailer 98 shownin FIG. 4B, may be determined at least partially through detection of anidentifier located on the object. Such an identifier may be one or morenumbers and/or characters that are located and visible on the object.The object characteristics may be used to determine how the objectshould be positioned within the object space 28 enclosed by the frame16. The object characteristics may also be used to determine thepositions the lift components should be located in order to properlyengage and lift the object.

In certain aspects, when the frame 16 is positioned around the object,the frame 16 may be positioned such that an end of the object extendspast an end of the frame 16. This may be done to allow for increasedaccess to the end of the object. For example, where the object is thetrailer 98 shown in FIG. 4B and the trailer includes rear doors that canbe opened and closed (see e.g., FIGS. 6B and 14 for one such aspect),the positioning of the end of the trailer past the end of the frame 16may support increased range of motion of the doors of the trailer 98.Further, this positioning of the frame 16 relative to the trailer 98also allows the end of the trailer 98 that extends past the frame 16 tobe positioned at a desired location, such as adjacent a loading dock.

With continued reference to FIG. 4B, the lift assembly 44 is movedtowards the rear end 42 of the frame 16 using the actuator 56 so thatthe lifting component 50 is located at a position at which the actuator51 can elevate it to engage and lift the front end 102 of the trailer 98(e.g., by engaging and lifting a kingpin located on an underside of thetrailer 98).

Similarly, the lift assembly 46, part of which is obscured in FIG. 4B,can be adjusted into an extended position where the lifting components58, 64 (not shown) are extended towards each other and under the trailer98. Then, the lifting components 58, 64 can be raised in the z-directionas indicated in FIG. 4B using the actuators 60, 66 (shown in FIG. 2A) tolift the rear end 106 of the trailer 98 (as shown in FIG. 4C). Thelifting components 58, 64 may also be moved along the respectiveelongated portions 24, 26 in the y-direction as indicated in FIG. 4Busing respectively coupled actuators (e.g., such as the actuator 35shown in FIG. 2A). This repositioning in the y-direction may allow thelifting components 58, 64 to be positioned at a correct location forengaging an underside of the trailer 98 (e.g., a location that will notinterfere with components of the trailer 98, such as lights, reflectors,hoses, etc., or a location that aligns with a designated “lift point” onthe trailer 98). This positioning may also be guided by the visionsystem.

Turning to FIG. 4C, the lifting component 50 of the lift assembly 44 andthe lifting component 58 of the lift assembly 46 (and also the liftingcomponent 64 of the lift assembly 46 shown in FIG. 2A, which is obscuredin FIG. 4C) are elevated by their respective actuators 51, 60, 66,moving the trailer 98 in the z-direction as indicated in FIG. 4C to liftthe landing gear 100 and the rear wheels 104 of the trailer 98 off ofthe ground. In this circumstance, even with the pneumatic brakes of therear wheels 104 of the trailer 98 locked, the lifting of the front andrear ends 102, 106 of the trailer 98 off of the ground allows thetrailer 98 to be moved using the transport mechanism 12 and the frame 16without interference from the brakes. In other words, the wheels 104 donot need to be able to roll on the ground in this lifted transportposition. Once the trailer 98 is suspended as shown in FIG. 4C, thetransport mechanism 12 and the frame 16 can be used to guide the trailer98 to a desired location, moving it in one or more directions during theprocess. Further, locating the trailer 98, engaging the trailer 98,lifting the trailer 98, and/or moving/steering the trailer 98 may beguided, informed, and/or controlled using the vision system describedherein.

It is contemplated herein that for mobile apparatuses having multiplelift assemblies (e.g., forward and rearward lift assemblies, liftassemblies on opposite sides of a frame, etc.), the lift assemblies maybe lifted/actuated in unison or may be lifted/actuated independentlyusing their respective actuators. These lift assemblies may also lift anobject at independent rates until a threshold weight, determined by aweight sensor, is detected by each lift assembly, at which time the liftassemblies may lift the object at the same rate.

It is also contemplated herein that an object, such as a wheeled cargotrailer, may be lifted to different contemplated heights to allow for adesired freedom of movement. For example, a wheeled cargo trailer, suchas the trailer 98 shown in FIGS. 4A-4C, may be lifted by a mobileapparatus anywhere from 1-12 inches off of the ground to provide adesired freedom of movement. Other lifted distances are alsocontemplated for the embodiments described herein.

Additional Example Process for Engaging, Lifting, and Moving an Object

Turning to FIGS. 5A-5C, the mobile apparatus 80 depicted in FIG. 3 isshown engaging and lifting a wheeled cargo trailer 98, in accordancewith an embodiment hereof. Similar to the depiction in FIGS. 4A-4C, theframe 16 of the mobile apparatus 80 is guided into position around thetrailer 98 using the transport mechanism 12 and/or the wheels 38 of theframe 16 and drive systems thereof. However, in contrast to theengagement and lifting of the trailer 98 by the mobile apparatus 10 asshown in FIGS. 4A-4C, the mobile apparatus 80 uses the lift assembly 82to lift the front end 102 of the trailer 98. As discussed with respectto FIG. 3 above, the lift assemblies 46, 82 are configured with arelatively similar or common design.

Referring to FIG. 5A, the frame 16 is propelled by the transportmechanism 12 and/or the wheels 38 of the frame 16 so that it beginsenclosing the trailer 98. The trailer 98 enters the object space 28 fromthe rear end 42 of the frame 16. The mobile apparatus 80 is furthermoved and guided so that the front end 102 of the trailer 98 isproximate the base portion 22 (as shown in FIG. 3) of the frame 16. Onceagain, the movement of the mobile apparatus 80 may occur throughmanually-controlled operation and/or through autonomously-controlledoperation, and may be assisted by various components and operations ofthe vision system described herein which may assist in maintainingproper spacing of the frame 16 from the trailer 98.

Referring to FIG. 5B, once the end 106 of the trailer 98 has reached adesired position relative to the end 42 of the frame 16, the liftassemblies 46, 82 are positioned and/or extended as described herein forengaging and elevating the trailer 98. The frame 16 may be positioned sothat the trailer 98 is partially enclosed within the frame 16 in theobject space 28, as shown in FIG. 5B. In alternative aspects, thetrailer 98 may be fully enclosed within the frame 16 in the object space28 (e.g., without the end 106 extending past the frame 16). With respectto the aspect shown in FIG. 5B, the partial enclosure of the trailer 98allows the end 106 of the trailer 98 to remain exposed outside of theframe 16, increasing access to the end 106 of the trailer 98. This mayalso increase the mobility/range of movement of components located atthe end 106 of the trailer 98 and/or at the end 42 of the frame 16(e.g., such components may include trailer doors and/or retainingelements used to open and/or hold open the trailer doors, as describedand shown with respect to FIGS. 6B and 14). Furthermore, when thetrailer 98 is located near an external object (e.g., a loading dock),the positioning of the end 106 of the trailer 98 past the end 42 of theframe 16 may increase accessibility to the storage area within thetrailer 98, due to the fact that the trailer 98 may then be placed inrelatively closer proximity to the external object without a spacingcaused due to an extended section of the frame 16. The frame 16 may besized such that, for a given trailer (e.g., the trailer 98), the end 106of the trailer 98 extends at least 1, 2, 3, 4, or 5 feet past the end 42of the frame 16, in addition to other possible distances, to allow fordesired positioning and/or mobility.

With continued reference to FIG. 5B, to facilitate lifting the trailer98, the lifting components 58, 64, 84, 86 (some of which are obscured inFIG. 5B but are shown in FIG. 3) of the lift assemblies 46, 82 may bemoved into desired positions along the frame 16 in the y-direction asindicated in FIG. 5B (e.g., using actuators, such as the actuator 35shown in FIG. 2A or the actuator 95 shown in FIG. 3). This movement canbe used to position the lifting components 58, 64, 84, 86 at suitablelocations along the elongated portions 24, 26 (e.g., within theavailable tolerance of movement) for engaging the trailer 98. Thismovement capability of the lifting components 58, 64, 84, 86 also allowsthe lift assemblies 46, 82 to accommodate objects of different sizes andconfigurations (e.g., trailers of different lengths and/or trailershaving different underside features, such as lights, reflectors, landinggear, pneumatic equipment, aerodynamic components, etc., that rendercertain areas not suitable for supporting the lifted trailer).

Once each lifting component 58, 64, 84, 86 is positioned at a suitablelocation along the frame 16 in the y-direction as indicated in FIG. 5B,actuators respectively coupled to each lifting component 58, 64, 84, 86may be activated (or alternatively, a manual operation may be performed)to move each of the lifting components 58, 64, 84, 86 from a retractedposition to an extended position in which the respective liftingcomponents 58, 64, 84, 86 extend further toward the object space 28,thereby reaching under the trailer 98 into a position suitable forlifting the trailer 98. FIG. 5B depicts non-obscured lifting components84, 58 in the extended positions reaching, at least partially, under thetrailer 98. The remaining lifting components 64, 86 are obscured by thetrailer 98 in FIG. 5B but would be in a similar configuration.

FIG. 5C depicts the mobile apparatus 80 and the trailer 98 of FIGS.5A-5B with the lifting components 58, 64, 84, 86 (components 64 and 86are obscured by the trailer 98 but are shown in FIG. 3) being raisedusing the actuators 60, 66, 90, 92 to an elevated position while eachlifting component 58, 64, 84, 86 is in the extended position.Accordingly, as shown in FIG. 5C, each lifting component 58, 64, 84, 86engages and lifts a respective portion of the trailer 98, lifting thelanding gear 100 and the rear wheels 104 of the trailer 98 off of theground. Once the trailer 98 is elevated to the desired height, thetransport mechanism 12 and the wheels 38 of the frame 16 are used tomaneuver the trailer 98 to a desired location as described herein.

As noted above, by lifting the trailer 98 off of the ground, thepneumatic braking system of the trailer 98 does not need to bepressurized so that the wheels 104 can roll on the ground, and insteadthe trailer 98 is simply suspended and moved without using the wheels104. Once the trailer 98 is moved to a desired location, the engagingand lifting process may be reversed to lower and deposit the trailer 98.The lifting components 58, 64, 84, 86 may be lowered using therespective actuators 60, 66, 90, 92, and then the lifting components 58,64, 84, 86 may be moved from the extended position back to the retractedposition, after which the mobile apparatus 80 may be moved using thetransport mechanism 12 to move the frame 16 out from over the trailer98.

Referring to FIG. 6A, a top-down plan view of the mobile apparatus 10shown in FIG. 2A is provided, in accordance with an embodiment hereof.As depicted in FIG. 6A, the wheels 38 may be pivotally/rotatably coupledto the frame 16 with respective wheel attachments 40. The wheelattachments 40 couple a respective drive system to each wheel 38 (e.g.,an electric and/or hydraulic motor coupled to a steering column). Eachwheel 38, in different contemplated aspects, may be configured torotate, or rather be steered, up to +/−360 degrees about its respectivewheel attachment 40 in order to provide a desired degree of mobility tothe mobile apparatus 10. For example, each wheel 38 may be configured toprovide up to 30 degrees, 45 degrees, 90 degrees, 180 degrees, or 360degrees of rotational steering in contemplated embodiments. In someinstances such as, for example, those involving a crowded storage depotwith reduced space for maneuvering, a higher degree ofrotation/steerability of the wheels 38 may be preferable. In furtherembodiments, some of the wheels 38 may have a fixed orientation.

The lift assemblies 44 and 46 of the mobile apparatus 10 are also shownin FIG. 6A. The lift assembly 44 is movably coupled to the frame 16 andto the base portion 22, and is movable along a length of the frame 16 inthe y-direction as indicated in FIG. 6A using the actuator 56. In thissense, the actuator 56 is operable to move the lift assembly 44 closerto and further away from the base portion 22 by moving it along theframe 16. This movement allows the lift assembly 44 to be positioned ata suitable location for engaging a particular structure of an objectbeing lifted (e.g., a kingpin on a trailer of a particular length, suchas the trailer 98). The lift assembly 46 is also shown in FIG. 6A. Thelifting component 58 of the lift assembly 46 is movably coupled to theelongated portion 24, such that it is both extendable and retractable inthe x-direction (e.g., towards and away from the object space 28) asindicated in FIG. 6A. The lifting component 58 is also movable along theelongated portion 24 in the y-direction as indicated in FIG. 6A using anactuator 37 (which may be a linear actuator as described herein). Thelifting component 58 is also movable between a raised position and alowered position at least when in the extended position throughoperation of the actuator 60.

Similarly, the lifting component 64 is movably coupled to the elongatedportion 26 and is extendable and retractable in the x-direction asindicated in FIG. 6A, or rather, towards and away from the object space28. The lifting component 64 is also movable along the elongated portion26 in the y-direction as indicated in FIG. 6A using the actuator 35(which may, for example, be a linear actuator as described herein). Thelifting component 64 is also movable between a raised and loweredposition using the actuator 66 at least when it is in the extendedposition. FIG. 6A also depicts components of the vision system (e.g.,the detectors 72) that are inward and outward facing. Such componentsmay be placed at various locations around the frame 16, some of whichare shown in FIG. 6A.

Referring now to FIG. 6B, a top-down plan view of the mobile apparatus10 depicted in FIG. 6A, with the mobile apparatus 10 moved into positionaround a wheeled cargo trailer 98 that is positioned adjacent a dock110, is provided, in accordance with an embodiment hereof. In certaincircumstances, a trailer, such as the trailer 98 shown in FIG. 6B, maybe located in a particular location for storage, loading, unloading, orotherwise temporarily located somewhere for certain purposes. As shownin FIG. 6B, in some cases, a trailer may be positioned between oradjacent other trailers or objects, such as the adjacent trailers 112shown in FIG. 6B. Such adjacent trailers 98, 112 may therefore be inrelatively close proximity to each other (e.g., within 1-4 feet of eachother). This compact spacing/positioning may facilitate efficient use ofspace in a yard/depot where trailers are stored, but leaves limitedspace between the trailers 98, 112 for objects and equipment.

FIG. 6B depicts how the design of the mobile apparatus 10 (and themobile apparatus 80) allows it to be positioned around the trailer 98and between the adjacent trailers 112 so that it can engage, lift, andmove the trailer 98 using the available tolerances of movement. Themobile apparatus 10 is adapted to move in the x-direction and in they-direction as indicated in FIG. 6B and rotate about the z-axis asindicated in FIG. 6B. This is accomplished using the transport mechanism12 and wheels 14 (not shown) thereof and also the wheels 38 of the frame16 and the drive systems thereof. The mobility and articulation providedby these components allows the mobile apparatus 10 to be maneuvered intoposition even when there are relatively small tolerances betweenobjects, as, for example, shown in FIG. 6B. In contemplated embodiments,the transport mechanism 12 and the frame 16 may move in unison. In othercontemplated embodiments, the frame 16 and the transport mechanism 12may be separable. In such an embodiment, the transport mechanism 12 maybe attachable to the frame 16 to provide power, steering, and/or visionfunctionality, and/or simply may be used to assist in moving the frame16, and possibly a lifted object, to a desired location. The frame 16may then be left in place if desired, possibly with a lifted object,allowing the transport mechanism to relocate, such as to another frameand object.

Additionally, as discussed herein, the vision system and componentsthereof 70, 72 coupled to the mobile apparatus 10 may be used tofacilitate correct positioning of the frame 16 around the trailer 98without contact/collision. As shown in FIG. 6B, once the frame 16 ispositioned around the trailer 98, the lift assemblies 44, 46 can beadjusted (e.g., in the x-direction, the y-direction, and/or thez-direction as indicated in FIG. 6B using the respectively coupledactuators discussed herein) to engage and lift the trailer 98, raisingit off of the ground. Once the trailer 98 is lifted, the transportmechanism 12 can transport the trailer 98 in suspended fashion to adesired location.

FIG. 6B further depicts a retaining mechanism 114 comprising afirst-side retaining element 116 and a second-side retaining element118, each of which is movable between a first configuration and a secondconfiguration. In the first configuration, each of the retainingelements 116, 118 is positioned such that it does not interfere withmovement of a respective door 97, 99 of the trailer 98. This allows thedoors 97, 99 of the trailer 98 to be opened and closed withoutinterference. When the doors 97, 99 of the trailer 98 are open, and eachretaining element 116, 118 is in the second configuration such that itis engaging a respective door 97, 99, as shown in FIG. 6B, the retainingelements 116, 118 may hold the doors 97, 99 open, restricting them fromswinging during movement of the mobile apparatus 10 and trailer 98.Therefore, when the mobile apparatus 10 moves the lifted trailer 98towards the dock 110 for loading and/or unloading or other purposes withthe doors 97, 99 open, the doors 97, 99 can remain open without swingingclosed due to the movement. The retaining elements 116, 118 may alsoinclude actuators that allow the retaining mechanism 114 to open andclose the doors 97, 99 in further embodiments.

FIGS. 7A-7B depict an example lifting component 120 of a liftingassembly, such as the lifting assembly 46 shown in FIG. 2A, useable forengaging and lifting an object, such as a wheeled cargo trailer, inaccordance with an embodiment hereof. The lifting component 120 has anelongated shape that may facilitate load distribution. The liftingcomponent 120 includes a support portion 121 which may be coupled to aframe, such as the frame 16 shown in FIGS. 2A and 3, or to a supportstructure and/or actuator mounted thereon, such as the support structure62 and actuator 60 shown in FIG. 2A. In this sense, the liftingcomponent 120 may be mounted on an actuator adapted to raise and lowerit as described herein.

The lifting component 120 shown in FIGS. 7A-7B also includes a liftingportion 122, which is movably coupled to the support portion 121. Thelifting portion 122 is movable between a retracted position (shown inFIG. 7A) and an extended position (shown in FIG. 7B). The retractedposition may allow the lifting portion 122 to be positioned away from anarea under an object, and the extended position may allow the liftingportion 122 to be positioned in the area under the object (e.g., forengaging and lifting the object). The lifting portion 122 is movablycoupled to the support portion 121 with a pair of pivotal couplings 124,126 that allow the lifting portion 122 to be pivoted out to the extendedposition. It should be noted that, although not depicted in FIGS. 7A-7B,in some contemplated embodiments, one or more actuators (e.g.,rotational actuators, which may be electrically driven) may be coupledto the pivotal couplings 124, 126 to allow the lifting portion 122 to bemoved between the retracted position and the extended position inactuated fashion. Further, as shown in FIGS. 7A-7B, the lifting portion122 includes an extended planar portion 128 that provides a surface forengaging (e.g., moving into contact with) a portion of an object (e.g.,an underside surface of the trailer 98). Further depicted in FIGS. 7A-7Bis an example coupling structure 129 that may be used to attach thelifting component 120 to a lift actuator used to raise and lower thelifting component 120, or to another structure.

FIGS. 8A-8B depict another example lifting component 130 that can beused with a lift assembly, such as the lift assembly 46 shown in FIG.2A, to engage and lift an object, in accordance with an embodimenthereof. The lifting component 130 includes a support portion 132, whichmay be movably coupled to a frame, such as the frame 16 shown in FIG.2A, or to another structure using the coupling structure 129. Thelifting component 130 also includes the lifting portion 122 and theextended planar portion 128 also provided with the lifting component 120depicted in FIGS. 7A-7B.

Like the lifting component 120 shown in FIGS. 7A-7B, the extended planarportion 128 can be used for engaging and supporting an object when thelifting portion 122 is in the extended position. However, in contrast tothe lifting component 120 depicted in FIGS. 7A-7B, the lifting portion122 of the lifting component 130 shown in FIGS. 8A-8B is not coupled tothe support portion 132 with a pair of pivotal couplings that move thelifting portion 122 between the retracted position and the extendedposition (e.g., using a rotational actuator and control system coupledto the same). Instead, the lifting portion 122 of the lifting component130 is movably coupled to the support portion 132 with a pair of linearactuators 134. Each of the linear actuators 134 may be electricallydriven, hydraulically-driven, and/or screw-driven, among other actuationmethods and mechanisms. The linear actuators 134 are operable to movethe lifting portion 122 from the retracted position, shown in FIG. 8A,to the extended position, shown in FIG. 8B, to allow the lifting portion122, and by association the extended planar portion 128, to reach atleast partially under an object so that the lifting portion 122 can beraised using a lift actuator to lift the object.

Referring to FIG. 9A, a lifting component and actuator assembly 138configured to be attached to a frame and used for engaging and liftingan object, such as a wheeled cargo trailer enclosed by the frame, isprovided, in accordance with an embodiment hereof. The assembly 138shown in FIG. 9A includes the lifting component 120 from FIGS. 7A-7Bcoupled to a pair of linear actuators 136. The linear actuators 136 areoperable to move the lifting component 120 between a raised position anda lowered position, to allow for raising and lowering an object.

To provide an example, when the lifting component 120 is in the extendedposition such that it is positioned at least partially under an object,as discussed with respect to FIGS. 7A-7B, the linear actuators 136 maybe operated to raise the lifting component 122 from a lowered positionto a raised position and vice versa to raise and lower a portion of theobject. The actuators 136 may be linear actuators as shown in FIG. 9A(e.g., hydraulically-driven actuators coupled to a hydraulic system),screw-driven actuators, electrically-driven actuators, belt orgear-driven actuators, and/or any other type of actuator suitable forraising and lowering the lifting component 120, like any of the otheractuators described herein. Only two actuators 136 are shown in FIG. 9Afor example purposes, but more or fewer actuators may be used in otherembodiments.

FIG. 9B depicts another lifting component and actuator assembly 140 thatcan be coupled to a frame and used for engaging and lifting an object,such as a wheeled cargo trailer, in accordance with an embodimenthereof. The assembly 140 shown in FIG. 9B may be coupled betweenportions of a frame (e.g., between the elongated portions 26, 32 of theframe 16 shown in FIG. 2A). The assembly 140 includes the liftingcomponent 120. The lifting component 120 includes the lifting portion122 which is movably coupled to the support portion 121 such that it ismovable between a retracted position and an extended position using thepair of pivotal couplings 124, 126 and, in certain aspects, one or morerotational actuators.

In FIG. 9B, the lifting portion 122 is shown in the extended position.Further, the lifting component 120 is movably/adjustably coupled to asupport member 142 that supports the lifting component 120. The supportmember 142 may enclose and/or support additional actuator componentsthat are operable to move the lifting component 120 between the loweredposition and the raised position. For example, the support member 142may at least partially contain, enclose, and/or support a piston, belt,linear-actuator, track, movable or slidable coupling, and/or othercomponents that enable movement of the lifting component 120 up and downthe support member 142. The support member 142 may also be fixedly ormovably coupled to a frame (e.g., via a track that allows slidablemovement of the support member 142 along the frame), such as the frame16 shown in FIG. 2A. The support member 142 further includes examplecoupling portions 144 that engage with corresponding structures on aframe.

Example Adapters for Pneumatic Braking Systems

Referring to FIG. 10A, trailer connections 146 for a pneumatic brakingsystem, such as one incorporated into a wheeled cargo trailer, isprovided, in accordance with an embodiment hereof. In certaincircumstances, a wheeled cargo trailer, such as the trailer 98 shown inFIG. 4A, may have a pneumatic braking system that includespneumatically-operated brakes for its wheels that remain locked until apressurized air source is connected. For example, a pneumatic brakingsystem may include a pneumatically-powered emergency brake and apneumatically-powered standard brake that are supplied with pressurizedair through separate pneumatic conduits to unlock/control the respectivebrakes. The pressurized air for the pneumatic braking system may beprovided through a glad hands connection, such as the glad handsconnection 145 shown in FIG. 10A that includes pneumatic couplings 148,150 that can be used for pneumatically attaching one or more pressurizedair sources to the braking system.

The glad hands connection 145 shown in FIG. 10A specifically includes apneumatic coupling 148 (e.g., for pneumatically powering an emergencybrake) and a pneumatic coupling 150 (e.g., for pneumatically-powering astandard brake). The trailer connections 146 further includes apower/control coupling 152. The power/control coupling 152 allows anelectrical power source to be connected to the trailer connections 146(e.g., to power brake lights on the trailer) and also allows a controlconnection to be connected to the trailer connections 146 (e.g., toenable control of the brake lights on the trailer). In operationalcircumstances, the couplings 148, 150, 152 of the trailer connections146 may be positioned on a wheeled cargo trailer at various locations,orientations, and/or spacings. As a result, a common location,orientation, and spacing of such connections may not readily be found ontrailers using such connections. FIG. 10A depicts the trailerconnections 146 as it might be placed on a surface 149 of a trailer(e.g., at the first end 102 of the trailer 98 shown in FIG. 5A).

To move a trailer with pneumatically operated brakes connected to a gladhands connection, a driver of a tractor would normally manually connecta pressurized air source to the glad hands connection to unlock thebrakes. However, this process takes additional time for the driver, andbecomes more difficult with an autonomous vehicle due to the fact thatcertain trailers may not have a standardized connection configuration.Therefore, a pneumatic adapter, such as the adapter 156 shown in FIG.10B, may be used with the glad hands connection and/or braking system tofacilitate and simplify attachment of a pressurized air source and/orpower/control connection to the system. The adapter 156 may be mountedon the surface 149 shown in FIG. 10B and may provide, for example,pneumatic couplings that are positioned at common locations,orientations, and spacings to facilitate automated and consistentplacement of connections for a pneumatic braking system.

FIG. 10B shows the adapter 156 discussed above coupled to the trailerconnections 146 shown in FIG. 10A. The trailer connections 146 includesthe pneumatic couplings 148, 150 of the glad hands connection 145 andalso the power/control coupling 152 mounted on the surface 149. Incontrast to the couplings 148, 150, 152 of the trailer connections 146,which may be mounted, oriented, and spaced irregularly on varioustrailers, the adapter 156 provides standardized/established locations,orientations, and spacings for its corresponding connections, asdiscussed further below.

The adapter 156 includes an adapter box 158 that provides an interfacewith the trailer connections 146. More specifically, the adapter box 158is connected to a pneumatic coupling 160 attached to the adapter box 158through a pneumatic conduit 170 and is connected to a pneumatic coupling162 attached to the adapter box 158 through a pneumatic conduit 172. Theadapter box 158 further includes a pneumatic conduit 164 that provides apneumatic connection between the adapter box 158 and the pneumaticcoupling 148 of the glad hands connection 145 and includes a pneumaticconduit 166 that provides a pneumatic connection between the adapter box158 and the pneumatic coupling 150 of the glad hands connection 145. Theconduits 164, 170 and the adapter box 158 pneumatically couple thepneumatic coupling 160 and the pneumatic coupling 148 of the glad handsconnection 145, and the conduits 166, 172 and the adapter box 158pneumatically couple the pneumatic coupling 162 and the pneumaticcoupling 150 of the glad hands connection 145.

The pneumatic couplings 160, 162 of the adapter 156 shown in FIG. 10Bare positioned on the surface 149 of the trailer at preconfiguredlocations, orientations, and spacings, so as to facilitate automatedattachment of pressurized air sources to the pneumatic braking system(e.g., using an autonomous vehicle with correspondinglylocated/spaced/oriented connections). The adapter 156 further includes apower/control coupling 174 that is coupled to the adapter box 158 via aconduit 151. The power/control coupling 174 allows a power/controlsource to be coupled to the adapter 156 to provide power and controlsignals to the power/control coupling 152 of the trailer connection 146via a power/control conduit 153. It should be noted that in alternativeembodiments, the pneumatic couplings 160, 162 and the power/controlcoupling 174 may not be attached to the adapter box 158 via the conduits151, 170, 172, but instead may be positioned directly on the adapter box158 or may be located on separate adapter structures. Otherconfigurations and arrangements of the adapter 156 are contemplatedherein. A corresponding mateable connection assembly that provides thepneumatic/power/control sources for the adapter 156, which may beuseable by or mounted on the autonomous transport aspects discussedherein, is also contemplated.

FIG. 10B depicts a configuration with an additional set of trailerconnections 141 that are connected to the adapter box 158. Thisadditional set of trailer connections 141 may or may not be included indifferent embodiments. For the aspect depicted in FIG. 10B, suchconnections allow for a separate manual attachment configuration for thebraking system, separate from the trailer connections 146. The trailerconnections 141 include a pneumatic coupling 143 that is pneumaticallyconnected to the adapter box 158, which provides a pneumatic connectionthrough the pneumatic conduit 164 to the pneumatic coupling 148 of theglad hands connection 145. The trailer connections 141 also include apneumatic coupling 147 that is pneumatically connected to the adapterbox 158, which provides a pneumatic connection through the pneumaticconduit 166 to the pneumatic coupling 150 of the glad hands connection145. The additional set of trailer connections 141 further includes apower/control coupling 157 that is coupled to the adapter box 158, whichprovides a power/control connection through the conduit 153 to thepower/control coupling 152 of the trailer connections 146. Theconfiguration shown in FIG. 10B allows the trailer connections 146 shownin FIG. 10A to remain attached to the adapter box 158 while thesimilarly configured trailer connection 141 is operable for manualattachment of connections that would otherwise have been connecteddirectly to the trailer connections 146. This may permit a manualattachment of pneumatic and power/control connections to the brakingsystem without having to disconnect the adapter 156 from the trailerconnections 146. The attachment of pneumatic sources to either thepneumatic couplings 143, 147 or to the pneumatic couplings 160, 162 mayoccur without a release of air through the unused pneumatic couplingsthrough use of an interlock incorporated into the adapter box 158, whichis described further below with respect to FIG. 12A.

FIG. 10C depicts a diagram of an example pneumatic braking system 176that includes the trailer connections 146 and adapter 156 shown in FIG.10B, in accordance with an embodiment hereof. The pneumatic brakingsystem 176 is designed so that the trailer connections 146, and the gladhands connection 145 thereof, is positioned at a first location in theflow path of the pneumatic braking system 176, with the pneumaticcouplings 148, 150 and the power/control coupling 152 being accessiblefrom the first location. Further attached to the pneumatic brakingsystem 176 at a second location is the adapter 156. The adapter 156includes the pneumatic couplings 160, 162 and the power/control coupling174 as described herein with respect to FIG. 10B. The adapter 156 iscoupled into the flow path of the pneumatic braking system 176, as shownin FIG. 10B, providing a connection point for automated pneumatic andpower/control connections.

The location at which the adapter 156 is positioned may be a surface ofa trailer, such as a surface located at the first end 102 of the trailer98 shown in FIG. 11. This positioning supports engagement withcorresponding pneumatic and power/control connections located on atransport mechanism 191 shown in FIG. 10C. The transport mechanism 191may be an autonomously operated transport mechanism as described herein.The transport mechanism 191 shown in FIG. 10C includes pneumaticcouplings 190, 192 that are mateable/attachable with the pneumaticcouplings 160, 162 located on the adapter 156. The transport mechanism191 also includes a power/control coupling 193 that ismateable/attachable with the power/control coupling 174 located on theadapter 156. Once again, by introducing the adapter 156 into thepneumatic braking system 176 as shown in FIG. 10C, standardizedlocations, orientations, and spacings for pneumatic and power/controlcouplings may be provided. This standardized arrangement can supportconsistent and improved attachment of such connections, including incircumstances where the attachment is performed by an autonomousvehicle.

The alignment and connection of the pneumatic couplings 190, 192 and thepower/control coupling 193 located on the transport mechanism 191 withthe pneumatic couplings 160, 162 and the power/control coupling 174located on the adapter 156 may be facilitated using a vision systemconfigured and used as described elsewhere herein. For example, cameras,sensors, and/or processing components of the vision system may be usedto detect the location of the couplings 160, 162, 174 on the trailer tosupport proper alignment and attachment of the couplings 190, 192, 193to the same. The attachment of the couplings 190, 192, 193 to thecouplings 160, 162, 174 may further be facilitated by mechanicalcomponents that are actuated and/or otherwise operated to physicallyattach the couplings 190, 192, 193 to the couplings 160, 162, 174. Forexample, one or more linear actuators may be coupled to the transportmechanism 191 that are operable to move the couplings 190, 192, 193 intocontact and/or engagement with the respective couplings 160, 162, 174 ofthe trailer connections 146. The couplings 190, 192, 193 may be placedat standardized (e.g., “known”) locations on the transport mechanism 191so that they correspond in location, orientation, and spacing with thecouplings 160, 162, 174 of the adapter 156.

FIG. 10C further depicts the additional set of trailer connections 141described with respect to FIG. 10B, which are connected to the adapter156 via the adapter box 158 thereof. The pneumatic coupling 143 and thepneumatic coupling 147 of the trailer connections 141 are used toprovide a pneumatic connection with corresponding pneumatic couplingslocated on a standard tractor 180, shown in FIG. 10C. The power/controlcoupling 157 of the trailer connections 141 can also be attached to acorresponding power/control coupling located on the standard tractor180. These connections may be arranged for manual attachment, or inother words, may not necessarily be arranged at standardized,established locations as with the connections on the adapter 156. Thepneumatic isolation of the pneumatic couplings 160, 162 or the pneumaticcouplings 148, 150 during use of either can be provided via theinterlock 194 described below with respect to FIGS. 12A and 12B.

FIG. 11 depicts the trailer 98 of FIG. 4A with the trailer connections146 and adapter 156 of FIGS. 10B-10C both mounted thereon, in accordancewith an embodiment hereof. FIG. 11 shows how the adapter 156 can becoupled into the pneumatic braking system 176 of the trailer 98 betweenthe glad hands connection 145 and the braking connections 188, which arelocated adjacent the wheels 104 of the trailer 98. As shown in FIG. 11,the trailer connections 146 and the adapter 156 are coupled/mounted to asurface of the trailer 98 (e.g., at the forward end 102). Thepositioning of the adapter 156 and the trailer connections 146 supportsthe attachment of pneumatic and power/control couplings, both from astandard tractor during normal operation (e.g., using the trailerconnections 146 located on the trailer 98) and from a separate, andpossibly autonomous, transport mechanism (e.g., using the adapter 156)used to shift the trailer. One example transport mechanism 154 that hasmateable components adapted to engage the adapter 156 located on thetrailer 98 is shown in FIG. 13. The couplings 190, 192, 193 shown inFIG. 10C may be positioned on a trailer-facing surface 155 of thetransport mechanism 154 shown in FIG. 13 so that they are positioned tomateably engage with the couplings 160, 162, 174 of the adapter 156positioned at the first end 102 of the trailer 98 as shown in FIG. 11.

Referring to FIGS. 12A-12B, a partial, cross-section view of aninterlock 194 which may be used to provide selective paths of airflowthrough an adapter for a pneumatic braking system, such as the adapter156 shown in FIG. 10B, is provided, in accordance with an embodimenthereof. The interlock 194, in one aspect, may be located within theadapter box 158 shown in FIG. 10B, and may be configured, as shown inFIGS. 12A-12B, to allow different sets of pneumatic couplings to be usedalternatively, and in isolation, to provide pressurized air to apneumatic braking system connected to the interlock 194.

Referring specifically to the interlock 194, the pneumatic couplings143, 147 of the trailer connections 141 shown in FIG. 10B arepneumatically connected to the interlock 194, allowing standardpneumatic couplings configured for a glad hands connection, such as theglad hands connection 145 shown in FIG. 10A, to be attached to thebraking system as described above (e.g., manually). The interlock 194also includes the pneumatic couplings 160, 162 associated with theadapter 156 shown in FIG. 10B. The pneumatic couplings 160, 162 may bemounted, as described herein, at standardized locations, orientations,and spacings as described herein to support automated attachment of apneumatic source (e.g., using an autonomous transport mechanism).

The interlock 194 includes a pair of movable components 208A, 208Bconnected by a linking member 207. These movable components 208A, 208Blocated within the interlock 194 allow a pneumatic source to be usedwith either the pneumatic couplings 143, 147 in isolation oralternatively with the pneumatic couplings 160, 162 in isolation. Inother words, the movable components 208A, 208B are configured to blockthe flow of pressurized air out of the unused pair of pneumaticcouplings 143, 147 or 160, 162.

The movable components 208A, 208B are adjustable/movable between a firstposition, shown in FIG. 12A, and a second position, shown in FIG. 12B.The first position allows a pneumatic source coupled to the pneumaticcouplings 143, 147 to provide airflow through conduits 203, 205 andthrough junctions 209, 211, and on to an attached pneumatic brakingsystem via conduits 213, 215, respectively. In the first position, thepair of movable components 208A, 208B are moved in unison to block theescape of air from the pneumatic couplings 160, 162, respectively, asshown in FIG. 12A. The second position allows a pneumatic source coupledto the pneumatic couplings 160, 162 to provide airflow through conduits217A, 217B and 219A, 219B and through the junctions 209, 211, and on tothe pneumatic braking system through the conduits 213, 215,respectively. In the second position, the pair of movable components208A, 208B are moved in unison to block the escape of air from thepneumatic couplings 143, 147, respectively, as shown in FIG. 12B. Inthis sense, the interlock 194 allows one set of pneumatic couplings tobe used in isolation without a release of pressurized air from theunused couplings.

The location of the movable components 208A, 208B within the interlock194 may be controlled in different ways. For example, the location maybe controlled mechanically, electrically, and/or pneumatically. In oneinstance, if a power/control connection is attached to the brakingsystem, a power source may then be supplied to the interlock 194, whichmay initiate electrical actuation that adjusts the position of themovable components 208A, 208B (e.g., from the first position to thesecond position or vice versa) to provide a desired pneumatic pathway.This actuation may be accomplished, for example, using a solenoid.

Alternatively, or in addition, the location of the movable components208A, 208B may be controlled by supplied airflow. For example, when apneumatic source is attached to the interlock 194 through either set ofpneumatic couplings 143, 147 or 160, 162, a position of the movablecomponents 208A, 208B may be adjusted or remain the same to provide acorresponding pneumatic path through the interlock 194. Further, in someembodiments, a resting, or default, configuration of the interlock 194may be established. For example, a biasing member 175 (e.g., a spring asshown in FIGS. 12A-12B) may be incorporated into the interlock 194 sothat in a resting state, in which no pneumatic sources are connected tothe interlock 194, the interlock 194 remains in a desired position, suchas the first position shown in FIG. 12A, to allow the desired pneumaticconnections 143, 147 or 160, 162 to remain open for use. It should benoted that the default position may be the first position or the secondposition, as described herein.

FIG. 13 depicts another embodiment of a mobile apparatus 212 thatincludes connections useable for attaching a pneumatic and/orpower/control source to an adapter located on a wheeled cargo trailer asdescribed herein, in accordance with an embodiment hereof. The mobileapparatus 212 includes a lift assembly 216 that is operable to lift oneend of an object, such as a wheeled cargo trailer. The lift assembly 216includes a movable lifting component 218 (e.g., as shown in theembodiment of FIG. 13, a fifth wheel adapted to engage and lift akingpin located on a trailer). The mobile apparatus 212 may beconfigured for autonomous operation and attachment to a trailer, and mayfurther include the vision system components described herein.

The mobile apparatus 212 shown in FIG. 13 includes the pneumatic andpower/control couplings 190, 192, 193 discussed with respect to FIG.10C. These couplings 190, 192, 193 can be aligned and engaged withcorresponding couplings located on an adapter, such as the adapter 156shown in FIG. 10C, that is mounted on a trailer as described herein.This allows the mobile apparatus 212 to connect a pneumatic andpower/control source to the trailer as described with respect to FIGS.10A-10C, in order to unlock/operate the pneumatic braking system of thetrailer. The mobile apparatus 212 can then move the trailer withouthaving to lift it to circumvent the restricted movement caused by thelocked pneumatic braking system. As shown in FIG. 13, the mobileapparatus 212 includes the vision components 70, 72 described herein.The vision system components 70, 72 may be used for guiding the mobileapparatus 212 to a desired location, locating a trailer to be engaged,and/or locating pneumatic and/or power/control couplings mounted on atrailer for engagement with the same.

Referring now to FIG. 14, a partial, rear, perspective view of a mobileapparatus 101 having a retaining mechanism 114 used for moving and/orretaining a position of doors 97, 99 located on a wheeled cargo trailer98 is provided, in accordance with an embodiment hereof. The mobileapparatus 101 shown in FIG. 14 includes wheels 38 and a frame 16, andmay be moved into position around the trailer 98 after which variouslift assemblies (e.g., the lift assemblies 44, 46 shown in FIG. 2A) maybe used to lift the trailer 98. Once suspended, the trailer 98 may thenbe transported to a desired location, such as a dock 110 as shown inFIG. 6B, as described herein.

The retaining mechanism 114 is located proximate to an end 42 of theframe 16. The retaining mechanism 114 includes a first-side retainingelement 116 and a second-side retaining element 118 that each extendfrom the frame 16. The first-side and second-side retaining elements116, 118 are movably coupled to the frame 16 such that they are movableto different positions. The first-side and second-side retainingelements 116, 118 may be securable or lockable in such positions.

Further, in the example depicted in FIG. 14, the first-side retainingelement 116 is coupled to a rotational actuator 221A that is adapted toimpart rotational movement to the first-side retaining element 116, andis also coupled to a linear actuator 223A that is adapted to impartlinear movement to the first-side retaining element 116. Theserotational and linear actuators 221A, 223A are presented for examplepurposes and may or may not be incorporated, or may be incorporateddifferently (e.g., they may be incorporated at least partially intoportions of the frame 16 such that they are obscured). The first-sideretaining element 116 further includes a securing component 225A coupledthereto that is configured and positioned for engaging with, andsecuring, a door 99 located on the trailer 98.

The second-side retaining element 118 is also coupled to a rotationalactuator 221B that is adapted to impart rotational movement to thesecond-side retaining element 118, and is also coupled to a linearactuator 223B that is adapted to impart linear movement to thesecond-side retaining element 118. These rotational and linear actuators221B, 223B are presented for example purposes and may or may not beincorporated, or may be incorporated differently as described herein.The second-side retaining element 118 further includes a securingcomponent 225B coupled thereto that is configured and positioned forengaging with, and securing, a door 97 located on the trailer 98.

The actuators 221A, 223A and 221B, 223B shown in FIG. 14 may be used tomove the first-side and second-side retaining elements 116, 118 todifferent extended and/or rotated positions. The attaching of thesecuring components 225A, 225B to the doors 97, 99 allows movementimparted to the first-side and second-side retaining elements 116, 118to be imparted to the doors 97, 99, and also allows the first-side andsecond-side retaining elements 116, 118 to be restricted from movingwhen desired. It should be noted that the actuators 221A, 223A and 221B,223B are included and described for example purposes, and in alternativeembodiments, these actuators may not be used, or only one may be used,or different actuators may be used. For example, in one embodiment, onlythe rotational actuators 221A, 221B may be incorporated, and in anotherembodiment, the movement of the first-side and second-side retainingelements 116, 118 may be manually enabled and controlled. The actuators221A, 223A and 221B, 223B may be coupled to a control system that isoperable to control the actuators and by association the movement of thefirst-side and second side retaining elements 116, 118.

The retaining elements 116, 118 and actuators coupled thereto may beused to engage and move, or hold in place, the doors 97, 99 of thetrailer 98. For example, a control system may adjust the position of theretaining elements 116, 118 so that the securing components 225A, 225Bare positioned to be coupled to the doors 97, 99. The doors 97, 99, oncecoupled with the securing components 225A, 225B, may then be moved to adesired position/orientation through operation of the actuators. Thedoors 97, 99 may also simply be held in position by the retainingelements 116, 118, such as, for example, when the trailer 98 is movedtowards a loading dock with the doors 97, 99 in an open position.

The movement and/or positioning of the retaining elements 116, 118 andthe operation of any actuators coupled thereto may also be guided and/ormonitored using a vision system as described herein. For example, thevision system may be used to monitor the location of the doors 97, 99and/or the location of the retaining elements 116, 118 coupled thereto.In this sense, the doors 97, 99 may be monitored by the vision system asan extended structure of the mobile apparatus 101 so that, duringmovement of the mobile apparatus 101 and the trailer 98, the doors 97,99 do not collide with surrounding objects. The vision system may alsobe used to determine where the doors 97, 99 should be positioned.

Referring to FIG. 15, a block diagram of an exemplary process 300 forengaging, lifting, and moving an object using a mobile apparatus isprovided, in accordance with an embodiment hereof. At block 310, amobile apparatus, such as the mobile apparatus 10 shown in FIG. 2A, ismoved into a first position, such as the position shown in FIG. 4B. Themobile apparatus may comprise a transport mechanism, such as thetransport mechanism 12 shown in FIG. 2A, and a frame, such as the frame16 shown in FIG. 2A, comprising a base portion, such as the base portion22 shown in FIG. 2A, coupled to the transport mechanism. The mobileapparatus may further include a first elongated portion, such as theelongated portion 24 shown in FIG. 2A, extending from the base portion,and a second elongated portion, such as the elongated portion 26 shownin FIG. 2A, extending from the base portion. The elongated portions maybe spaced from each other. The mobile apparatus may further include afirst lift assembly, such as the lift assembly 44 shown in FIG. 2A,movably coupled to the frame, and a second lift assembly, such as thelift assembly 46 shown in FIG. 2A, coupled to the frame. The firstposition may comprise a position in which the frame at least partiallysurrounds the wheeled cargo trailer as shown, for example, in FIG. 4B.

At block 320, the first and second lift assemblies are moved intoengaging positions. For example, a lift assembly, such as the liftassembly 46, may include lifting components, such as the liftingcomponents 58, 64 shown in FIG. 2A, which may be similar to the liftingcomponent 120 depicted and described with respect to FIGS. 7A-7B, thatare moved from a retracted position to an extended position. Forexample, as shown in FIGS. 7A-7B and 8A-8B, a lifting portion 122 may bemoved into an extended position through pivotal or linear actuation. Alifting component, such as the lifting component 50 shown in FIG. 2A,may also move into an engaging position through actuated movement alongthe frame, such as, for example, by moving the lifting component 50 ofthe lift assembly 44 using the actuator 56 shown in FIG. 2A. In thissense, an engaging position may comprise an adjusted position of thelifting component, such as one of the lifting components 50, 58, 64shown in FIG. 2A, that is suitable for contacting and lifting an objectenclosed by the frame. The movement of the lifting components into theengaging positions may occur in any of the x, y, and z directionsrelative to the frame, as shown in FIGS. 2A and 3, depending on theenabled movement of the lifting components and the actuators coupled tothe frame. This multi-axis movement may be facilitated using differenttypes of actuators, such as the linear and/or rotational actuatorsdescribed herein.

At block 330, the first lift assembly is moved from a lowered positionto a raised position to lift a first end of the wheeled cargo trailer.For example, the lifting component 50 may be elevated using the actuator51 shown in FIG. 2A to lift the first end. At block 340, the second liftassembly is moved from a lowered position to a raised position to lift asecond end of the wheeled cargo trailer. For example, the liftingcomponents 58, 64 shown in FIG. 2A may be elevated using the linearactuators 136 shown in FIG. 9A to lift the end of the trailer.Operations described at blocks 330 and 340 may be performedsimultaneously or in any sequence. At block 350, the lifted wheeledcargo trailer is moved using the transport mechanism.

Example Pneumatic Braking Systems and Adapters Therefor

In a further embodiment, a pneumatically-operated braking system for awheeled cargo trailer is provided. The system includes a set ofpneumatically-operated brakes that are coupled to a set of wheels of thewheeled cargo trailer, a glad hands connector coupled to the wheeledcargo trailer and pneumatically coupled to the set ofpneumatically-operated brakes, and an adapter coupled to the wheeledcargo trailer and operable to provide a pneumatic connection with thepneumatically-operated braking system. The glad hands connector has afirst pair of pneumatic couplings. A pair of pneumatic conduits extendbetween the set of pneumatically-operated brakes and the glad handsconnector. The adapter also includes a second pair of pneumaticcouplings adapted to be attached to a pneumatic source and a third pairof pneumatic couplings adapted to be attached to the first pair ofpneumatic couplings of the glad hands connector to provide a pneumaticconnection between the adapter and the glad hands connector. The systemfurther includes a pair of pneumatic conduits that are releasablyattachable to the first pair of pneumatic couplings of the glad handsconnector and to the third pair of pneumatic couplings of the adapter.

The adapter may be pneumatically coupled to the pair of pneumaticconduits such that it is located between the glad hands connector andthe set of pneumatically-operated brakes. The adapter may furtherinclude an interlock, the interlock being adjustable between a firstconfiguration and a second configuration, the first configurationproviding a pneumatic connection between the adapter and the set ofbrakes and the second configuration providing a pneumatic connectionbetween the glad hands connector and the set of brakes. The interlockmay include one or more movable components that block the pneumaticconnection to the glad hands connector when the interlock is in thefirst configuration and block the pneumatic connection to the adapterwhen the interlock is in the second configuration. The adapter furtherincludes a power/control coupling and a wireless communication componentadapted to receive wireless signals and control, based on the receivedwireless signals, one or more electronic components of the wheeled cargotrailer.

In some embodiments, this disclosure may include the language, forexample, “at least one of [element A] and [element B].” This languagemay refer to one or more of the elements. For example, “at least one ofA and B” may refer to “A,” “B,” or “A and B.” In other words, “at leastone of A and B” may refer to “at least one of A and at least one of B,”or “at least either of A or B.” In some embodiments, this disclosure mayinclude the language, for example, “[element A], [element B], and/or[element C].” This language may refer to either of the elements or anycombination thereof. In other words, “A, B, and/or C” may refer to “A,”“B,” “C,” “A and B,” “A and C,” “B and C,” or “A, B, and C.”

The subject matter of this disclosure has been described in relation toparticular embodiments, which are intended in all respects to beillustrative rather than restrictive. Alternative embodiments willbecome apparent to those of ordinary skill in the art to which thepresent subject matter pertains without departing from the scope hereof.Different combinations of elements, as well as use of elements notshown, are also possible and contemplated.

What is claimed is:
 1. A mobile apparatus for engaging and movingobjects, comprising: a frame, comprising: a base portion, a firstelongated portion extending from the base portion, and a secondelongated portion extending from the base portion, the second elongatedportion spaced from the first elongated portion, wherein the firstelongated portion and the second elongated portion extend from the baseportion along a first axis which is perpendicular to a second axis; afirst lift assembly coupled to the frame and comprising: a first liftingcomponent, a first actuator coupled to the first lifting component, thefirst actuator operable to shift the first lifting component along thefirst axis to different positions along a length of the frame, and asecond actuator coupled to the first lifting component and operable toshift the first lifting component along the second axis between a raisedposition and a lowered position; a second lift assembly coupled to theframe and comprising: a second lifting component, a third actuatorcoupled to the first elongated portion and coupled to the second liftingcomponent and operable to shift the second lifting component along thesecond axis between a raised position and a lowered position while thefirst elongated portion remains extending along the first axis, a thirdlifting component, and a fourth actuator coupled to the second elongatedportion and coupled to the third lifting component and operable to shiftthe third lifting component along the second axis between a raisedposition and a lowered position while the second elongated portionremains extending along the first axis, wherein the second liftingcomponent and the third lifting component are each movable between anextended position and a retracted position, and wherein, in the extendedposition, the second lifting component and the third lifting componentextend further towards each other than in the retracted position; and atransport mechanism coupled to the frame and operable to move the framein at least one direction.
 2. The mobile apparatus of claim 1, whereinthe frame further comprises: a third elongated portion coupled to thebase portion and spaced from the first elongated portion; and a fourthelongated portion coupled to the base portion and spaced from the secondelongated portion, wherein the first lift assembly is movably coupled toa track extending along the third and fourth elongated portions.
 3. Themobile apparatus of claim 1, wherein the first actuator comprises alinear actuator that utilizes a hydraulic piston or a screw-drive, andwherein the first lifting component comprises a fifth wheel adapted toengage a kingpin mounted on a wheeled cargo trailer.
 4. The mobileapparatus of claim 1, further comprising a plurality of wheels, each ofthe wheels coupled to the frame or to the transport mechanism with arespective wheel attachment, wherein at least some of the plurality ofwheels are steerable.
 5. The mobile apparatus of claim 1, furthercomprising a vision system, the vision system comprising a plurality ofdetectors positioned about the mobile apparatus that are communicativelyconnected to one or more computer processors, the vision system adaptedto determine at least one of a position and an identity of objectslocated about the mobile apparatus.
 6. The mobile apparatus of claim 5,wherein the plurality of detectors comprise a plurality of cameras thatrecord images of the objects located about the mobile apparatus, andwherein the vision system is configured to identify characters visibleon the objects through an optical character recognition processperformed on the images.
 7. The mobile apparatus of claim 5, furthercomprising a wireless communication system configured to communicateinformation provided by the vision system to a computing device separatefrom the mobile apparatus.
 8. The mobile apparatus of claim 1, whereinthe second lifting component is elongated and is pivotally coupled tothe first elongated portion of the frame, and wherein the third liftingcomponent is elongated and is pivotally coupled to the second elongatedportion of the frame, such that the second lifting component and thethird lifting component are each pivotal between the extended positionand the retracted position.
 9. The mobile apparatus of claim 1, whereinthe second lifting component is movably coupled to the first elongatedportion with one or more linear actuators operable to move the secondlifting component between the extended position and the retractedposition, and wherein the third lifting component is movably coupled tothe second elongated portion with one or more linear actuators operableto move the third lifting component between the extended position andthe retracted position.
 10. The mobile apparatus of claim 1, wherein thesecond lifting component is movably coupled to the first elongatedportion such that it is movable to different positions along a length ofthe first elongated portion that extends along the first axis, andwherein the third lifting component is movably coupled to the secondelongated portion such that it is movable to different positions along alength of the second elongated portion that extends along the firstaxis.